Mitsubishi Electronics MDS-D-SPJ3 User manual

MELDAS is a registered trademark of Mitsubishi Electric Corporation.

Other company and product names that appear in this manual are trademarks or registered

trademarks of their respective companies.

Introduction

Thank you for selecting the Mitsubishi numerical control unit. This instruction manual describes the

handling and caution points for using this AC servo/spindle.Incorrect handling may lead to unforeseen

accidents, so always read this instruction manual thoroughly to ensure correct usage.

In order to confirm if all function specifications described in this manual are applicable, refer to the

specifications for each CNC.

Notes on Reading This Manual

(1) Since the description of this specification manual deals with NC in general, for the specifications of

individual machine tools, refer to the manuals issued by the respective machine manufacturers.

The "restrictions" and "available functions" described in the manuals issued by the machine

manufacturers have precedence to those in this manual.

(2) This manual describes as many special operations as possible, but it should be kept in mind that

items not mentioned in this manual cannot be performed.

Precautions for safety

Please read this manual and auxiliary documents before starting installation, operation, maintenance or

inspection to ensure correct usage. Thoroughly understand the device, safety information and

precautions before starting operation.

The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION".

Note that some items described as " CAUTION" may lead to major results depending on the situation.

In any case, important information that must be observed is described.

When there is a potential risk of fatal or serious injuries if handling is mistaken.

When a dangerous situation, or fatal or serious injuries may occur if handling is mistaken.

When a dangerous situation may occur if handling is mistaken leading to medium or minor

injuries, or physical damage.

DANGER

WARNING

CAUTION

The signs indicating prohibited and mandatory matters are explained below.

The meaning of each pictorial sign is as follows.

After reading this specifications and instructions manual, store it where the user can access it easily for

reference.

The numeric control unit is configured of the control unit, operation board, servo drive unit, spindle drive

unit, power supply, servomotor and spindle motor, etc.

In this section "Precautions for safety", the following items are generically called the "motor".

• Servomotor

• Linear servomotor

• Spindle motor

In this section "Precautions for safety", the following items are generically called the "unit".

• Servo drive unit

• Spindle drive unit

• Power supply unit

• Scale interface unit

• Magnetic pole detection unit

Indicates a prohibited matter. For example, "Fire Prohibited" is indicated as .

Indicates a mandatory matter. For example, grounding is indicated as .

CAUTION

CAUTION rotated

object

CAUTION HOT

Danger Electric shock

risk

Danger explosive

Prohibited

Disassembly is

prohibited

KEEP FIRE AWAY

General instruction

Earth ground

Important matters that should be understood for operation of this machine are indicated as a POINT

in this manual.

POINT

1. Electric shock prevention

Do not open the front cover while the power is ON or during operation. Failure to observe this could lead

to electric shocks.

Do not operate the unit with the front cover removed. The high voltage terminals and charged sections

will be exposed, and can cause electric shocks.

Do not remove the front cover and connector even when the power is OFF unless carrying out wiring

work or periodic inspections. The inside of the units is charged, and can cause electric shocks.

Since the high voltage is supplied to the main circuit connector while the power is ON or during

operation, do not touch the main circuit connector with an adjustment screwdriver or the pen tip. Failure

to observe this could lead to electric shocks.

Wait at least 15 minutes after turning the power OFF, confirm that the CHARGE lamp has gone out, and

check the voltage between P and N terminals with a tester, etc., before starting wiring, maintenance or

inspections. Failure to observe this could lead to electric shocks.

Ground the unit and motor following the standards set forth by each country.

Wiring, maintenance and inspection work must be done by a qualified technician.

Wire the servo drive unit and servomotor after installation. Failure to observe this could lead to electric

shocks.

Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks.

Do not damage, apply forcible stress, place heavy items on the cables or get them caught. Failure to

observe this could lead to electric shocks.

After assembling the built-in IPM spindle motor, if the rotor is rotated by hand etc., voltage occurs

between the terminals of lead. Take care not to get electric shocks.

WARNING

2. Injury prevention

In the system where the optical communication with CNC is executed, do not see directly the light

generated from CN1A/CN1B connector of drive unit or the end of cable. When the light gets into eye,

you may feel something is wrong for eye.

(The light source of optical communication corresponds to class1 defined in JISC6802 or IEC60825-1.)

The linear servomotor, direct-drive motor and built-in IPM spindle motor uses permanent magnets in the

rotor, so observe the following precautions.

(1)Handling

• The linear servomotor, direct-drive motor and built-in IPM spindle motor could adversely affect

medical electronics such as pacemakers, etc., therefore, do not approach the rotor.

• Do not place magnetic materials as iron.

• When a magnetic material as iron is placed, take safety measure not to pinch fingers or hands

due to the magnetic attraction force.

• Remove metal items such as watch, piercing jewelry, necklace, etc.

• Do not place portable items that could malfunction or fail due to the influence of the magnetic

force.

• When the rotor is not securely fixed to the machine or device, do not leave it unattended but store

it in the package properly.

(2)Transportation and storage

• Correctly store the rotor in the package to transport and store.

• During transportation and storage, draw people's attention by applying a notice saying "Strong

magnet-Handle with care" to the package or storage shelf.

• Do not use a damaged package.

(3)Installation

• Take special care not to pinch fingers, etc., when installing (and unpacking) the linear servomotor.

1. Fire prevention

Install the units, motors and regenerative resistor on non-combustible material. Direct installation on

combustible material or near combustible materials could lead to fires.

Always install a circuit protector and contactor on the servo drive unit power input as explained in this

manual. Refer to this manual and select the correct circuit protector and contactor. An incorrect

selection could result in fire.

Shut off the power on the unit side if a fault occurs in the units. Fires could be caused if a large current

continues to flow.

When using a regenerative resistor, provide a sequence that shuts off the power with the regenerative

resistor's error signal. The regenerative resistor could abnormally overheat and cause a fire due to a

fault in the regenerative transistor, etc.

The battery unit could heat up, ignite or rupture if submerged in water, or if the poles are incorrectly

wired.

Cut off the main circuit power with the contactor when an alarm or emergency stop occurs.

2. Injury prevention

Do not apply a voltage other than that specified in this manual, on each terminal. Failure to observe this

item could lead to ruptures or damage, etc.

Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or damage,

etc.

Do not mistake the polarity (+,- ). Failure to observe this item could lead to ruptures or damage, etc.

Do not touch the radiation fin on unit back face, regenerative resistor or motor, etc., or place parts

(cables, etc.) while the power is turned ON or immediately after turning the power OFF. These parts

may reach high temperatures, and can cause burns or part damage.

Structure the cooling fan on the unit back face, etc., etc so that it cannot be touched after installation.

Touching the cooling fan during operation could lead to injuries.

CAUTION

3. Various precautions

Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and electric

shocks, etc.

(1) Transportation and installation

Correctly transport the product according to its weight.

Use the motor's hanging bolts only when transporting the motor. Do not transport the machine when the

motor is installed on the machine.

Do not stack the products above the tolerable number.

Follow this manual and install the unit or motor in a place where the weight can be borne.

Do not get on top of or place heavy objects on the unit.

Do not hold the cables, axis or detector when transporting the motor.

Do not hold the connected wires or cables when transporting the units.

Do not hold the front cover when transporting the unit. The unit could drop.

Always observe the installation directions of the units or motors.

Secure the specified distance between the units and control panel, or between the servo drive unit and

other devices.

Do not install or run a unit or motor that is damaged or missing parts.

Do not block the intake or exhaust ports of the motor provided with a cooling fan.

Do not let foreign objects enter the units or motors. In particular, if conductive objects such as screws or

metal chips, etc., or combustible materials such as oil enter, rupture or breakage could occur.

Provide adequate protection using a material such as connector for conduit to prevent screws, metallic

detritus, water and other conductive matter or oil and other combustible matter from entering the motor

through the power line lead-out port.

The units, motors and detectors are precision devices, so do not drop them or apply strong impacts to

them.

CAUTION

Store and use the units under the following environment conditions.

(Note 1) For details, confirm each unit or motor specifications in addition.

(Note 2) -15°C to 55°C for linear servomotor.

Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor slipping off

during operation.

Always install the servomotor with reduction gear in the designated direction. Failure to do so could lead

to oil leaks.

Structure the rotary sections of the motor so that it can never be touched during operation. Install a

cover, etc., on the shaft.

When installing a coupling to a servomotor shaft end, do not apply an impact by hammering, etc. The

detector could be damaged.

Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft could break.

Store the motor in the package box.

When inserting the shaft into the built-in IPM spindle motor, do not heat the rotor higher than 130°C. The

magnet could be demagnetized, and the specifications characteristics will not be ensured.

Always use a nonmagnetic tool (explosion-proof beryllium copper alloy safety tool: NGK Insulators, etc.)

when installing the linear servomotor.

Always provide a mechanical stopper on the end of the linear servomotor's travel path.

If the unit has been stored for a long time, always check the operation before starting actual operation.

Please contact the Service Center, Service Station, Sales Office or delayer.

(2) Wiring

Correctly and securely perform the wiring. Failure to do so could lead to abnormal operation of the

motor.

Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of the drive

unit.

Correctly connect the output side of the drive unit (terminals U, V, W). Failure to do so could lead to

abnormal operation of the motor.

When using a power regenerative power supply unit, always install an AC reactor for each power supply

unit.

In the main circuit power supply side of the unit, always install an appropriate circuit protector or

contactor for each unit. Circuit protector or contactor cannot be shared by several units.

Environment Unit Motor

Ambient temperature

Operation: 0 to 55°C(with no freezing),

Storage / Transportation: -15°C to 70°C

(with no freezing)

Operation: 0 to 40°C(with no freezing),

Storage: -15°C to 70°C (Note2) (with no freezing)

Ambient humidity

Operation: 90%RH or less

(with no dew condensation)

Storage / Transportation: 90%RH or less

(with no dew condensation)

Operation: 80%RH or less

(with no dew condensation),

Storage: 90%RH or less

(with no dew condensation)

Atmosphere

Indoors (no direct sunlight)

With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles

Altitude

Operation/Storage: 1000 meters or less above sea

level,

Transportation: 13000 meters or less above sea

level

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

Vibration/impact According to each unit or motor specification

CAUTION

Always connect the motor to the drive unit's output terminals (U, V, W).

Do not directly connect a commercial power supply to the servomotor. Failure to observe this could

result in a fault.

When using an inductive load such as a relay, always connect a diode as a noise measure parallel to

the load.

When using a capacitance load such as a lamp, always connect a protective resistor as a noise

measure serial to the load.

Do not reverse the direction of a diode which

connect to a DC relay for the control output

signals such as contractor and motor brake

output, etc. to suppress a surge. Connecting it

backwards could cause the drive unit to

malfunction so that signals are not output, and

emergency stop and other safety circuits are inoperable.

Do not connect/disconnect the cables connected between the units while the power is ON.

Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could cause

the cable to fall off while the power is ON.

When using a shielded cable instructed in the instruction manual, always ground the cable with a cable

clamp, etc.

Always separate the signals wires from the drive wire and power line.

Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to the

system.

(3) Trial operation and adjustment

Check and adjust each program and parameter before starting operation. Failure to do so could lead to

unforeseen operation of the machine.

Do not make remarkable adjustments and changes of parameter as the operation could become

unstable.

The usable motor and unit combination is predetermined. Always check the models before starting trial

operation.

The linear servomotor does not have a stopping device such as magnetic brakes. Install a stopping

device on the machine side.

CAUTION

RA

COM

(24VDC

)



COM

(24VDC)

RA

Servodrive unit

Control output

signal

Control output

signal

(4) Usage methods

In abnormal state, install an external emergency stop circuit so that the operation can be stopped and

power shut off immediately.

Turn the power OFF immediately if smoke, abnormal noise or odors are generated from the unit or

motor.

Do not disassemble or repair this product.

Never make modifications.

When an alarm occurs, the machine will start suddenly if an alarm reset (RST) is carried out while an

operation start signal (ST) is being input. Always confirm that the operation signal is OFF before

carrying out an alarm reset. Failure to do so could lead to accidents or injuries.

Reduce magnetic damage by installing a noise filter. The electronic devices used near the unit could be

affected by magnetic noise. Install a line noise filter, etc., if there is a risk of magnetic noise.

Use the unit, motor and regenerative resistor with the designated combination. Failure to do so could

lead to fires or trouble.

The brake (magnetic brake) of the servomotor are for holding, and must not be used for normal braking.

There may be cases when holding is not possible due to the magnetic brake's life, the machine

construction (when ball screw and servomotor are coupled via a timing belt, etc.) or the magnetic

brake's failure. Install a stop device to ensure safety on the machine side.

After changing the programs/parameters or after maintenance and inspection, always test the operation

before starting actual operation.

Do not enter the movable range of the machine during automatic operation. Never place body parts

near or touch the spindle during rotation.

Follow the power supply specification conditions given in each specification for the power (input voltage,

input frequency, tolerable sudden power failure time, etc.).

Set all bits to "0" if they are indicated as not used or empty in the explanation on the bits.

Do not use the dynamic brakes except during the emergency stop. Continued use of the dynamic

brakes could result in brake damage.

If a circuit protector for the main circuit power supply is shared by several units, the circuit protector may

not activate when a short-circuit fault occurs in a small capacity unit. This is dangerous, so never share

the circuit protector.

CAUTION

(5) Troubleshooting

If a hazardous situation is predicted during power failure or product trouble, use a servomotor with

magnetic brakes or install an external brake mechanism.

Use a double circuit configuration that allows the

operation circuit for the magnetic brakes to be operated

even by the external emergency stop signal.

Always turn the main circuit power of the motor OFF

when an alarm occurs.

If an alarm occurs, remove the cause, and secure the

safety before resetting the alarm.

(6) Maintenance, inspection and part replacement

Always backup the programs and parameters before starting maintenance or inspections.

The capacity of the electrolytic capacitor will drop over time due to self-discharging, etc. To prevent

secondary disasters due to failures, replacing this part every five years when used under a normal

environment is recommended. Contact the Service Center, Service Station, Sales Office or delayer for

repairs or part replacement.

Do not perform a megger test (insulation resistance measurement) during inspections.

If the battery low warning is issued, back up the machining programs, tool data and parameters with an

input/output unit, and then replace the battery.

Do not short circuit, charge, overheat, incinerate or disassemble the battery.

For after-purchase servicing of the built-in motor (including the detector), supplies of servicing parts and

repairs can only be offered.

For maintenance, part replacement, and services in case of failures in the built-in motor (including the

detector), take necessary actions at your end. For spindle drive unit, Mitsubishi can offer the after-

purchase servicing as with the general spindle drive unit.

When a failure has occurred in the built-in motor (including the detector), some period of time can be

required to supply the servicing parts or repair. Prepare the spare parts at your end whenever possible.

(7) Disposal

Take the batteries and backlights for LCD, etc., off from the controller, drive unit and motor, and dispose

of them as general industrial wastes.

Do not disassemble the unit or motor.

Dispose of the battery according to local laws.

Always return the secondary side (magnet side) of the linear servomotor to the Service Center or

Service Station.

When incinerating optical communication cable, hydrogen fluoride gas or hydrogen chloride gas which

is corrosive and harmful may be generated. For disposal of optical communication cable, request for

specialized industrial waste disposal services that has incineration facility for disposing hydrogen

fluoride gas or hydrogen chloride gas.

CAUTION

MBR

EMG



Servomotor

Magnetic

brake

Shut off with the servomotor

brake control output.

Shut off with NC brake

control PLC output.

24VDC

(8) Transportation

The unit and motor are precision parts and must be handled carefully.

According to a United Nations Advisory, the battery unit and battery must be transported according to

the rules set forth by the International Civil Aviation Organization (ICAO), International Air

Transportation Association (IATA), International Maritime Organization (IMO), and United States

Department of Transportation (DOT), etc.

(9) General precautions

The drawings given in this manual show the covers and safety partitions, etc., removed to provide a

clearer explanation. Always return the covers or partitions to their respective places before starting

operation, and always follow the instructions given in this manual.

CAUTION

Treatment of waste

The following two laws will apply when disposing of this product. Considerations must be made to each law.

The following laws are in effect in Japan. Thus, when using this product overseas, the local laws will have a

priority. If necessary, indicate or notify these laws to the final user of the product.

(1) Requirements for "Law for Promotion of Effective Utilization of Resources"

(a) Recycle as much of this product as possible when finished with use.

(b) When recycling, often parts are sorted into steel scraps and electric parts, etc., and sold to scrap

contractors. Mitsubishi recommends sorting the product and selling the members to appropriate

contractors.

(2) Requirements for "Law for Treatment of Waste and Cleaning"

(a) Mitsubishi recommends recycling and selling the product when no longer needed according to item

(1) above. The user should make an effort to reduce waste in this manner.

(b) When disposing a product that cannot be resold, it shall be treated as a waste product.

(c) The treatment of industrial waste must be commissioned to a licensed industrial waste treatment

contractor, and appropriate measures, including a manifest control, must be taken.

(d) Batteries correspond to "primary batteries", and must be disposed of according to local disposal

laws.

Disposal

(Note) This symbol mark is for EU countries only.

This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-

users and Annex II.

Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and

components which can be recycled and/or reused.

This symbol means that batteries and accumulators, at their end-of-life, should be disposed of

separately from your household waste.

If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the

battery or accumulator contains a heavy metal at a certain concentration. This will be indicated as

follows:

Hg: mercury (0,0005%), Cd: cadmium (0,002%), Pb: lead (0,004%)

In the European Union there are separate collection systems for used batteries and accumulators.

Please, dispose of batteries and accumulators correctly at your local community waste collection/

recycling centre.

Please, help us to conserve the environment we live in!

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